Creating a hemispherical workspace divided into 8 sections with a single cavity actuator outfitted in jamming fibers. 

hemisphere_try1.csv contains real-time motion tracking footage of the end effector of the actuator. 
hemisphere_try1.c3d is the associated proprietary file format for the motion capture system. 

We plot directly from the csv to visualize the swept workspace, after clearing unwanted time stamp positions from the csv when setting the system up. We only plot a sweep in one direction, i.e. the actuator bending out and not back to its original position, for optical clarity. 

Note that we use the first three columns of the csv, which denote the x y and z positions of the end effector, respectively. 